ROS2下载
https://github.com/ros2/ros2/releases
- 下载解压后放到 c:\opt\ros2\humble
源码依赖列表
| 项目 | Value |
|---|
| console_bridge | https://github.com/ros/console_bridge.git |
| angles | https://github.com/ros/angles.git -b humble |
| bullet | https://github.com/bulletphysics/bullet3.git |
| eigen_stl_containers | https://github.com/ros/eigen_stl_containers.git -b humble |
| ccd | https://github.com/danfis/libccd.git |
| fcl | https://github.com/flexible-collision-library/fcl.git |
| generate_parameter_library | https://github.com/PickNikRobotics/generate_parameter_library.git |
| moveit_ros_planning_interface | git clone https://github.com/ros-planning/moveit2.git -b humble |
依赖下载并编译
依赖下载
git clone https://github.com/bulletphysics/bullet3.git -b 2.87 # checkout 到 2.87 版本
cd bullet3
编译
mkdir build && cd build
cmake .. -G "Visual Studio 16 2019" -A x64 -DCMAKE_INSTALL_PREFIX=C:\opt\ros2\humble
cmake --build . --config Release --target install
编译MoveIt
colcon build --merge-install --cmake-args -DBULLET_INCLUDE_DIR="C:\ProgramData\chocolatey\lib\bullet\include" -DBULLET_LIBRARY_DIR="C:\ProgramData\chocolatey\lib\bullet\lib"
